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Search indexed NASA NTRS and DOE OSTI research on propulsion, heat transfer, battery materials and energy systems. Follow report and document links to the original sources.

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186 records · Page 11

Contact control for advanced applications of light weight arms

Many applications of robotic and teleoperated manipulator arms require operation in contact and non-contact regimes. This paper deals with both regimes and the transition between them with special attention given to problems of flexibility in the links and drives. This is referred to as contact control. Inverse dynamics is used to plan the tip motion of the flexible link so that the free motion can stop very near the contact surface without collision due to overshoot. Contact must occur at a very low speed since the high frequency impact forces are too sudden to be affected by any feedback generated torques applied to a joint at the other end of the link. The effect of approach velocity and surface properties are discussed. Force tracking is implemented by commands to the deflection states of the link and the contact force. This enables a natural transition between tip position and tip force control that is not possible when the arm is treated as rigid. The effect of feedback gain, force trajectory, and desired final force are of particular interest and are studied. Experimental results are presented on a one link arm and the system performance in the overall contact task is analyzed. Extension to multi-link cases with potential applications are discussed.

Book, Wayne J.↗

Molecular mechanisms underlying host-induced gene silencing

Abstract Host-induced gene silencing (HIGS) refers to the silencing of genes in pathogens and pests by expressing homologous double-stranded RNAs (dsRNA) or artificial microRNAs (amiRNAs) in the host plant. The discovery of such trans-kingdom RNA silencing has enabled the development of RNA interference-based approaches for controlling diverse crop pathogens and pests. Although HIGS is a promising strategy, the mechanisms by which these regulatory RNAs translocate from plants to pathogens, and how they induce gene silencing in pathogens, are poorly understood. This lack of understanding has led to large variability in the efficacy of various HIGS treatments. This variability is likely due to multiple factors, such as the ability of the target pathogen or pest to take up and/or process RNA from the host, the specific genes and target sequences selected in the pathogen or pest for silencing, and where, when, and how the dsRNAs or amiRNAs are produced and translocated. In this review, we summarize what is currently known about the molecular mechanisms underlying HIGS, identify key unanswered questions, and explore strategies for improving the efficacy and reproducibility of HIGS treatments in the control of crop diseases.

59 BASIC BIOLOGICAL SCIENCES↗

Technology and task parameters relating to the effectiveness of the bracing strategy

The bracing strategy has been proposed in various forms as a way to improve robot performance. One version of the strategy employs independent stages of motion. The first stage, referred to as the large or bracing arm, carries the second stage of motion. After the first stage has completed its motion it is braced to provide a more rigid base of motion with a more accurate relationship to the parts to be manipulated. The hypothesis is that more rapid completion of certain tasks is possible with lighter arms using the bracing strategy. While it is easy to make conceptual arguments why this should be so, it is less easy to specify even approximately when this will be true for some reasonably generic situation. There is no relevant experience base with bracing arms to be compared to non-bracing arms. Furthermore, if one were interested in obtaining such practical experience, there would be no methodical guidance on the selection of an interesting case, one in which the unproven approach, bracing, can show its superiority. If one such case exists, only the extent of applicability of the new approach is in question. One set of interesting cases is likely to be applications in which a large workspace must be covered, but where a series of small accurate moves will remain within a smaller region of the total workspace. A prototype application with these characteristics is set up and a skeleton design of arms using the competing strategies are compared.

Book, Wayne J.↗

Diversion Path Analysis: A Proposed Methodology to Develop an MC&A Approach for Liquid-Fueled Molten Salt Reactors

Nuclear material control and accounting (MC&A) is a critical element of both the US Nuclear Regulatory Commission (NRC) and US Department of Energy (DOE)’s domestic safeguards and security requirements. NRC licensees are required, under Title 10 of the Code of Federal Regulations (10 CFR) Part 74 to establish and maintain an MC&A program that captures and records the quantities and locations of special nuclear material (SNM) at the facility. Along with physical protection, MC&A is a key element of domestic nuclear material safeguards that enables the NRC to ensure that SNM is controlled and accounted for. SNM, per 10 CFR Part 74, refers to plutonium, 233 U, and uranium enriched in the isotope 233 U or 235 U, but does not include source material. Periodic physical inventories, coupled with material balance evaluations, are effective and demonstrated tools to account for and detect theft or diversion of SNM in facilities containing SNM in bulk material form (i.e., not in discrete, countable items). Historically in the United States, these types of facilities have included fuel fabrication, conversion, and enrichment facilities. In comparison, reactors have relied on item counting of assemblies and control of SNM while in containment (e.g., a sealed reactor pressure vessel) because, to date, reactor fuel has been in item form. In liquid-fueled molten salt reactors (MSRs), unlike traditional light water reactors (LWRs) or bulk facilities, bulk SNM quantities can change significantly during operation as a result of depletion and transmutation. This introduces challenges to the use of traditional periodic physical inventories and material balance evaluations to detect theft or diversion of SNM in reactors that use SNM in bulk material form. Liquid-fueled (i.e., salt-fueled) MSR facilities are MSRs that use SNM within a salt eutectic as the fuel. The SNM is in a bulk material form any time it is outside of fresh or spent fuel storage containers. Some examples of when SNM will be in bulk form in the facility are during addition of fuel to the reactor system, while fuel is circulating in operation, and while fuel is in a drain tank. Periodic physical inventories and material balance evaluations can likely be effectively applied to many portions of an MSR facility, including all areas where depletion and transmutation are not significantly changing the quantities of SNM within the control area. Within an MSR facility, this would include fresh fuel receipt and loading, waste streams that may contain SNM, irradiated fuel storage outside of the reactor core, and any irradiated fuel processing that may happen after SNM has been removed from the reactor. All of these process steps could rely on measurements of SNM quantities compared with documented inventories. Any discrepancies from predicted (i.e., book) inventories and measured inventories could be quantified as inventory differences, consistent with traditional MC&A guidance from the NRC (e.g., in NUREG-1065 Revision 2, NUREG-2159 Revision 1, and RG 5.29 Revision 2). Within the reactor system, additions and removals to the book inventory include depletion of the SNM (e.g., fission of 235 U), which complicates the use of physical inventories. SNM control, however, can also likely be effectively applied to detect theft of SNM throughout a liquid-fueled MSR facility. To complement these approaches, prior technical reports have identified that a diversion path analysis may be a useful, risk-informed, and performance-based tool to determine suitable elements of an MC&A approach for the reactor system within a liquid-fueled MSR facility.

22 GENERAL STUDIES OF NUCLEAR REACTORS↗

Sun Grant/DOE Regional Feedstock Partnership: Final Technical Report

The U.S. Department of Energy (DOE) and the Sun Grant Initiative initiated the Regional Feedstock Partnership (referred to as the Partnership) in 2007 primarily to address information gaps associated with the likelihood for realization of the sustainable and reliable production of a billion-tons of biomass annually to support the U.S. bioenergy industry by the year 2030. Publication of The Technical Feasibility of a Billion-Ton Annual Supply (Perlack et al., 2005) in 2005, with its associated yield assumptions, led to the realization that the yield goals and assumptions utilized in that analysis required careful validation. To achieve the overall goal of validating key yield assumptions, the following objectives were developed: 1. Establishment of replicated field trials across regions to determine the impact of crop residue removal (primarily corn and small grains) on future grain yields and soil health. 2. Establishment of replicated field trials of some of the most promising dedicated energy crops (herbaceous annuals and perennials, as well as woody perennials) to demonstrate the potential performance of these feedstocks across the U.S. 3. Assessment of feedstock resources to be used to estimate a sustainable national supply potential. Teams composed of representatives from Land Grant Universities, USDA ARS, DOE National Laboratories, industry, and other federal agencies were identified and assembled to address each of these objectives. For Objective 1, members of the USDA ARS’ Resilient Economic Agricultural Practices (REAP) team combined with university personnel to leverage on-going work and established new trials to determine sustainable corn residue removal rates. In addition, universities across the continental U.S. conducted surveys of published past research to define parameters for the use of cereal grain residue (primarily wheat) as a biomass feedstock. For Objective 2, and based on input from DOE, USDA, Land Grant university scientists, and others, several herbaceous and woody energy crop species were selected for new or further evaluation across wide geographic areas as cellulosic feedstock sources. Species teams were organized to assess the yield potential of candidate herbaceous feedstocks including sorghum, energycane, Miscanthus x giganteus (hereafter referred to as miscanthus), switchgrass, and mixed perennial species (primarily grasses and some legumes) on Conservation Reserve Program (CRP) land. Woody species will be critical components of the bioenergy sector; therefore, species teams were also organized for shrub willow and hybrid poplar (Populus spp.). Field trials of each species were utilized to determine yield potential across the U.S. For Objective 3, a GIS resource team was organized with representatives from each of the five Sun Grant regions. While some regional assessments were made, the multi-institutional team decided that the group from Oregon State University would utilize their PRISM ELM model to estimate national yield potential of the various species evaluated. The following are key outcomes and impacts • The Partnership demonstrated the production potential of diverse herbaceous and woody feedstocks across much of the U.S. for 5-7 consecutive growing seasons. Long-term studies such as this are not commonly possible due to limitations in funding cycles. • Long-term field trials were valuable in demonstrating the importance of agronomic management practices and genetic resources to yield of sorghum, switchgrass, miscanthus, energycane, CRP mixed perennial grasses, poplar, and willow. • National yield potential maps were developed for all species evaluated in the Partnership. • Sustainable corn stover removal rates were quantified for use by producers, harvesters, and commercial lignocellulosic biorefineries. • Data from the Partnership field trials not only validated initial Billion Ton estimates, but were instrumental in developing both the Billion Ton Update in 2011, and especially the 2016 Billion Ton Report. • The Partnership provided the opportunity to assemble and conserve a poplar germplasm collection that contains more than 20,000 clones for use in breeding programs. New clones resulting from crosses made using this germplasm collection have resulted in significantly improved cultivars that could be scaled up and deployed. • Further validation of improved yields of new varieties/cultivars of biomass sorghum, energycane, hybrid poplars, and shrub willows was produced by the Partnership. • The Partnership demonstrated the potential of energycane in northern parts of the southeastern U.S., particularly in relation to sugarcane varieties. • For certain feedstocks (e.g., CRP mixed grasses, switchgrass, willow, and poplar), production economics were ascertained through Partnership field trials. • Biomass samples collected as part of the Partnership are also being used to populate Idaho National Laboratory’s Bioenergy Feedstock Library. • Because of the size and scope of the Partnership, workforce development was a key component and outcome. Numerous undergraduate students (25), graduate students (15 MS and 8 PhD), and postdoctoral researchers (7) were trained by Partnership participants. This will help to prepare individuals for careers in the emerging fields of plant breeding, biomass production, feedstock supply logistics, and biomass conversion processes. • More than 130 scientific publications have been authored by Partnership team members. Numerous other presentations, outreach publications, book chapters, and websites have also been developed to further the continued development of the bioeconomy.

09 BIOMASS FUELS↗

Bringing Planetary Science Mission Outreach to the Deaf and Blind Communities

Introduction: Technology for enhancing outreach, like 3D printing, and science communication products, such as videos and podcasts, can be utilized within the planetary science community, especially for the engagement and excitement of current or upcoming planetary exploration missions. However, these communication products can also be further enhanced for the benefit of the blind and deaf communities. While such products may already be readily available, such projects are not easily accessible to blind and/or deaf certified educators, which often rely on making their own resources or do not have the funds to provide such resources (e.g., cost of 3D printers or cost of braille books). The planetary science community can have better practices to reach these broader audiences. Best practices can include transcripts from podcasts, transcripts in videos, and large-font captions. Images on websites and social media accounts should also include alt-text descriptive captions. 3D printing can also enhance planetary science for the blind community, through tactile posters, maps, and pamphlets. Planetary data can also be augmented by providing different tactile geological maps (e.g., topography or various datasets), and audio-visual videos freely available for educators. Visual Engagement: Visual engagement consists of several avenues to consider, the three main themes includes: 1) swag; 2) videos; 3) interactive exploration. Swag can include the fun visual take-home materials, such as stickers, posters, bookmarks, etc. Videos can include educational-specific videos (available freely via YouTube or by other educational-specific streaming avenues, such as Nebula or Curiosity Stream), provided they have Closed Captioning (CC). The use of QR codes to such videos or websites can also benefit to being added on swag. Interactive exploration can also be sub-divided by different types of engagement. A popular and still fairly new technology for public engagement is the use of virtual reality (VR). While this has been mainly for martian and lunar surface exploration [1], the deaf communities can benefit from VR through a more extensive look at our solar system and beyond (for example, a VR experience of the flight path, or visual map of the heliosphere/dynamics of our Sun). Audio Engagement: Audio tools can also be a useful avenue of communication, especially for the blind communities. Audio archiving can certainly be transcripts from the video engagements, but also the use of podcasts can also be a benefit. Podcasting can take on two forms: 1) interview engagement; and 2) update engagement. For interviews, scientists can communicate with STEM-specific podcast platforms to make other listener-bases aware of what is going on with a specific mission. For update-type communication, missions may opt to have an archived podcast of news, updates, and the teams involved. The most important aspect of such podcasts would be for the need of complimentary transcripts (including descriptive transcripts if sounds are included), and the limited use of jargon. Research Engagement: There have been several examples of involving the blind and low-vision communities in citizen science, such as through the NASA Heliophysics division. Examples include the NASA PUNCH (Polarimeter to Unify the Corona and Heliosphere) mission led by the Southwest Research Institute [2], which include blind and visually-impaired citizens to assist in the Sun’s coronal rhythms.” Another example is the Eclipse Soundscapes: Citizen Science Project (ES:CSP), which documents observations of acoustical changes of nature and ecosystems during solar eclipse events [3]. Inclusivity: A major theme that is necessary for public engagement is inclusivity and the awareness of reaching broader audiences. Outreach to include hearing/seeing impaired communities are still lacking in the sciences. There are several opportunities that the planetary sciences could take. Other projects that have emerged from the space sciences include adding transcripts to visual engagement [4], and the use of 3D printing for the visually-impaired [5]. References: [1] Olgin, J. (2020) 51st LPSC, Abstract 2137. [2] https://scitechdaily.com/outreach-for-nasa-punch-mission-embraces-ancient-and-modern-sun-watching-theme/ [3] https://science.nasa.gov/science-activation-team/eclipse-soundscapes [4] NASA International Observe the Moon Night (Blind and Deaf Accessible), Youtube Video ( https://www.youtube.com/watch?v=neHCfg0S3-Q) [5] Richardson, J., et al. (2018) AGU Fall Meeting, Abstract ED23F-0963.

C J Ahrens↗